Data-Driven Distributed Output Synchronization of Heterogeneous Discrete-Time Multi-Agent Systems

Given an autonomous exosystem, generating a reference output, we consider the problem of designing a distributed data-driven control law for a family of discrete-time heterogeneous LTI agents, connected through a directed graph, in order to synchronize the agents’ outputs to the reference one. Agents split into two categories: leaders, with direct access to the exosystem output, and followers, that only receive information from their neighbors. All agents aim to achieve output synchronization by means of a state feedback that makes use of their own states as well as of an estimate of the exogenous system state, provided by an internal state observer. Such an observer has a different structure for leaders and followers. Necessary and sufficient conditions for the existence of a solution are first derived in the model-based set-up and then in a data-driven context.